/**
* @brief Start the module
*
* @return -1 if initialisation failed, 0 on success
*/
static int32_t RadioComBridgeStart(void)
{
if (data) {
// Check if this is the coordinator modem
data->isCoordinator = PIOS_RFM22B_IsCoordinator(PIOS_COM_RFM22B);
// Parse UAVTalk out of the link
data->parseUAVTalk = true;
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(RFM22BSTATUS_OBJID), data->uavtalkEventQueue,
EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue,
EV_UPDATED | EV_UPDATED_MANUAL);
if (data->isCoordinator) {
UAVObjConnectQueue(UAVObjGetByID(RFM22BRECEIVER_OBJID), data->radioEventQueue,
EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
} else {
UAVObjConnectQueue(UAVObjGetByID(RFM22BRECEIVER_OBJID), data->uavtalkEventQueue,
EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
}
if (data->isCoordinator) {
registerObject(RadioComBridgeStatsHandle());
}
// Configure the UAVObject callbacks
ObjectPersistenceConnectCallback(&objectPersistenceUpdatedCb);
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
data->telemetryTxTaskHandle = PIOS_Thread_Create(telemetryTxTask, "telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
data->telemetryRxTaskHandle = PIOS_Thread_Create(telemetryRxTask, "telemetryRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
if (PIOS_PPM_RECEIVER != 0) {
data->PPMInputTaskHandle = PIOS_Thread_Create(PPMInputTask, "PPMInputTask",STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
#endif
}
if (!data->parseUAVTalk) {
// If the user wants raw serial communication, we need to spawn another thread to handle it.
data->serialRxTaskHandle = PIOS_Thread_Create(serialRxTask, "serialRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_SERIALRX);
#endif
}
data->radioTxTaskHandle = PIOS_Thread_Create(radioTxTask, "radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
data->radioRxTaskHandle = PIOS_Thread_Create(radioRxTask, "radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
// Register the watchdog timers.
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYTX);
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYRX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
#endif
return 0;
}
return -1;
}
/**
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
static void updateObject(UAVObjHandle obj, int32_t eventType)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object depending on update mode
if (updateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_THROTTLED) {
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// If we received a periodic update, we can change back to update on change
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
// Set update period on initialization and metadata change
if (eventType == EV_NONE)
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
} else {
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
}
}
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.
* \param[in] obj Object to connect
*/
static void registerObject(UAVObjHandle obj)
{
if (UAVObjIsMetaobject(obj)) {
/* Only connect change notifications for meta objects. No periodic updates */
UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
return;
} else {
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
/* Only create a periodic event for objects that are periodic */
if ((updateMode == UPDATEMODE_PERIODIC) ||
(updateMode == UPDATEMODE_THROTTLED)) {
// Setup object for periodic updates
UAVObjEvent ev = {
.obj = obj,
.instId = UAVOBJ_ALL_INSTANCES,
.event = EV_UPDATED_PERIODIC,
};
EventPeriodicQueueCreate(&ev, queue, 0);
}
// Setup object for telemetry updates
updateObject(obj, EV_NONE);
}
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.
* \param[in] obj Object to connect
*/
static void registerObject(UAVObjHandle obj)
{
int32_t eventMask;
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, queue, eventMask);
}
/**
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
static void updateObject(UAVObjHandle obj)
{
UAVObjMetadata metadata;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
// Setup object depending on update mode
if (metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_NEVER) {
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect queue
UAVObjDisconnectQueue(obj, priorityQueue);
}
}
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.
* \param[in] obj Object to connect
*/
static void register_object(UAVObjHandle obj)
{
int32_t eventMask;
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ | EV_UNPACKED;
UAVObjConnectQueue(obj, queue, eventMask);
}